There is a large body of literature on offline and online RGB-D reconstruction; let us review only those highly related ones. KinectFusion [1]}, [2]} is one of the first to realize a real-time volumetric fusion framework of Curless96.
In order to handle larger environments, spatial hierarchies [3]}, and hashing schemes [4]}, [5]} have been proposed.
Another line of research adopt point-based representation [6]}, [7]}, [8]}, [9]}.
